#include "MapInfo.h"
#include <bosch_locator_bridge/ClientLocalizationVisualization.h>
#include <ros/ros.h>

namespace kybot_map {

class LocationSoftwareMapInfo : public MapInfo 
{
public:
    LocationSoftwareMapInfo();
    void SubscribeTopics();

    void ScanCallback(const sensor_msgs::PointCloud2ConstPtr& laser);
private:
    //ros::Publisher pose_puber_;
    ros::Publisher laser_puber_;

    ros::Subscriber laser_sub_;

    ros::Subscriber status_sub_;
    ros::Subscriber pose_sub_;
    ros::Subscriber mode_sub_;
};

}